ALLEN PARK -- Detroit Lions quarterback Matthew Stafford participated in Friday's practice and appears on course to play against Denver on Sunday.

Stafford sustained an ankle injury in Detroit's previous game against Atlanta. He has been limited in practice this week, but Lions coach Jim Schwartz said he looked better on Friday than any other day.

"I'll just say that he's better today than he was yesterday," Schwartz said. "Hopefully we can keep him on that track to Sunday."

Detroit will release its official injury report later this afternoon.

Schwartz would not divulge how much Stafford practiced on Friday, but it does not appear his quarterback will be a game-time decision.